Watch Less, Feel More: Sim-to-Real RL for Generalizable Articulated Object Manipulation via Motion Adaptation and Impedance Control

TL;DR

This paper introduces a novel RL-based approach for generalizable articulated object manipulation that achieves high success rates in real-world zero-shot transfer by combining motion adaptation, impedance control, and observation history.

Contribution

It presents a new RL pipeline with variable impedance control and motion adaptation that reduces reliance on vision and improves sim-to-real transfer for articulated objects.

Findings

Achieved 84% success rate in real-world manipulation of unseen objects.

Reduced sim-to-real gap by using observation history and impedance control.

Enabled multi-staged manipulation without heuristic motion planning.

Abstract

Articulated object manipulation poses a unique challenge compared to rigid object manipulation as the object itself represents a dynamic environment. In this work, we present a novel RL-based pipeline equipped with variable impedance control and motion adaptation leveraging observation history for generalizable articulated object manipulation, focusing on smooth and dexterous motion during zero-shot sim-to-real transfer. To mitigate the sim-to-real gap, our pipeline diminishes reliance on vision by not leveraging the vision data feature (RGBD/pointcloud) directly as policy input but rather extracting useful low-dimensional data first via off-the-shelf modules. Additionally, we experience less sim-to-real gap by inferring object motion and its intrinsic properties via observation history as well as utilizing impedance control both in the simulation and in the real world. Furthermore, we develop a well-designed training setting with great randomization and a specialized reward system (task-aware and motion-aware) that enables multi-staged, end-to-end manipulation without heuristic motion planning. To the best of our knowledge, our policy is the first to report 84\% success rate in the real world via extensive experiments with various unseen objects.